package org.kealinghornets.nxtdroid;

import org.kealinghornets.nxtdroid.NXT.LightSensor;
import org.kealinghornets.nxtdroid.NXT.NXTThread;

/**
 * Created by jychuah on 11/3/13.
 */
public class MyNXTThread extends NXTThread {

    int state = 1;
    LightSensor eyeball;

    public MyNXTThread() {
        setNXTThreadName("Bridge Crosser");
    }

    public void run() {
        while (state != -1) {
            switch(state) {
                case 1 : do_state_1(); break;
                case 2 : do_state_2(); break;
                case 3 : do_state_3(); break;
                case 4 : do_state_4(); break;
                case 5 : do_state_5(); break;
                case 6 : do_state_6(); break;
                case 7 : do_state_7(); break;
                case 8 : do_state_8(); break;
                default : state = -1; break;
            }
        }
    }

    public void do_state_1() {
        eyeball = getActiveLightSensor(PORT_1);

        log("I'm in state 1");
        runMotor(PORT_A);
        wait(1500);
        stopMotor(PORT_C);
        if (eyeball.getLightValue() > 200) {
            state = 2;
        } else {
            state = 3;
        }

    }

    public void do_state_2() {
        log ("I'm in state 2");
        runMotor(PORT_A);
        runMotor(PORT_C);
        wait(-2250);
        stopMotor(PORT_A);
        stopMotor(PORT_C);
        runMotor(PORT_C);
        wait(1500);
        stopMotor(PORT_C);
        state = 4;
    }

    public void do_state_3() {
        log ("I'm in state 3");
        runMotor(PORT_A);
        runMotor(PORT_C);
        wait(2250);
        stopMotor(PORT_A);
        stopMotor(PORT_C);
        state = 4;
    }

    public void do_state_4() {
        eyeball = getActiveLightSensor(PORT_1);

        log ("I'm in state 4");
        runMotor(PORT_C);
        wait(1500);
        stopMotor(PORT_C);
        runMotor(PORT_A);
        runMotor(PORT_C);
        wait(2250);
        stopMotor(PORT_A);
        stopMotor(PORT_C);
        if (eyeball.getLightValue() > 200) {
            state = 5;
        } else {
            state = 6;
        }
    }
    public void do_state_5() {
        eyeball = getActiveLightSensor(PORT_1);

        log ("I'm in state 5");
        runMotor(PORT_A);
        runMotor(PORT_C);
        wait(5000);
        stopMotor(PORT_A);
        stopMotor(PORT_C);
        runMotor(PORT_C);
        wait(1500);
        stopMotor(PORT_C);
        runMotor(PORT_A);
        runMotor(PORT_C);
        wait(3000);
        stopMotor(PORT_A);
        stopMotor(PORT_C);
        if (eyeball.getLightValue() > 200) {
            state = 8;
        } else {
            state = 7;
        }
    }
    public void do_state_6() {
        eyeball = getActiveLightSensor(PORT_1);

        log ("I'm in state 6");
        runMotor(PORT_C);
        wait(3000);
        stopMotor(PORT_C);
        runMotor(PORT_A);
        runMotor(PORT_C);
        wait(7250);
        stopMotor(PORT_A);
        stopMotor(PORT_C);
        if (eyeball.getLightValue() > 500) {
            state = 8;
        } else {
            state = 7;
        }
    }
    public void do_state_7() {
        log("I'm in state 7");
        runMotor(PORT_C);
        wait(3000);
        stopMotor(PORT_C);
        runMotor(PORT_A);
        runMotor(PORT_C);
        wait(7000);
        stopMotor(PORT_A);
        stopMotor(PORT_C);
        state = 8;
    }
    public void do_state_8() {
        log("I'm in state 8");
        runMotor(PORT_B);
        wait(1500);
        stopMotor(PORT_B);
        reset();
        state = -1;
    }
    }